#include <sot/torque_control/se3-trajectory-generator.hh>

Inheritance diagram for SE3TrajectoryGenerator:

Collaboration diagram for SE3TrajectoryGenerator:

[legend]

Public Member Functions
	SE3TrajectoryGenerator (const std::string &name)

	DECLARE_SIGNAL (x, OUT, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (initial_value, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (trigger, bool)

	DECLARE_SIGNAL_OUT (ddx, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (dx, dynamicgraph::Vector)

virtual void	display (std::ostream &os) const

void	getValue (const int &id)

void	init (const double &dt)

void	move (const int &id, const double &xFinal, const double &time)

void	playTrajectoryFile (const std::string &fileName)

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)

void	setSpline (const std::string &filename, const double &timeToInitConf, const Eigen::MatrixXd &init_rotation)

void	startConstAcc (const int &id, const double &xFinal, const double &time)

void	startLinearChirp (const int &id, const double &xFinal, const double &f0, const double &f1, const double &time)

void	startSinusoid (const int &id, const double &xFinal, const double &time)

void	startSpline ()

void	startTriangle (const int &id, const double &xFinal, const double &time, const double &Tacc)

void	stop (const int &id)

Protected Types
enum	TG_Status { TG_STOP, TG_SINUSOID, TG_MIN_JERK, TG_LIN_CHIRP, TG_TRIANGLE, TG_CONST_ACC, TG_TEXT_FILE, TG_SPLINE }

Protected Member Functions
	DECLARE_SIGNAL_OUT_FUNCTION (x, dynamicgraph::Vector)

Protected Attributes
std::vector< ConstantAccelerationTrajectoryGenerator * >	m_constAccTrajGen

std::vector< AbstractTrajectoryGenerator * >	m_currentTrajGen
	status of the component More...

double	m_dt
	true if it is the first iteration, false otherwise More...

bool	m_firstIter
	true if the entity has been successfully initialized More...

bool	m_initSucceeded

unsigned int	m_iterLast
	size of velocity vector More...

std::vector< LinearChirpTrajectoryGenerator * >	m_linChirpTrajGen

std::vector< MinimumJerkTrajectoryGenerator * >	m_minJerkTrajGen

std::vector< NoTrajectoryGenerator * >	m_noTrajGen

unsigned int	m_np
	control loop time period More...

unsigned int	m_nv
	size of position vector More...

std::vector< SinusoidTrajectoryGenerator * >	m_sinTrajGen

bool	m_splineReady

Eigen::Matrix3d	m_splineRotation

parametriccurves::Spline< double, Eigen::Dynamic > *	m_splineTrajGen

std::vector< TG_Status >	m_status

double	m_t
	last iter index More...

TextFileTrajectoryGenerator *	m_textFileTrajGen

std::vector< TriangleTrajectoryGenerator * >	m_triangleTrajGen

Detailed Description

Definition at line 46 of file se3-trajectory-generator.hh.

Member Enumeration Documentation

◆ TG_Status

enum TG_Status

protected

Enumerator
TG_STOP
TG_SINUSOID
TG_MIN_JERK
TG_LIN_CHIRP
TG_TRIANGLE
TG_CONST_ACC
TG_TEXT_FILE
TG_SPLINE

Definition at line 129 of file se3-trajectory-generator.hh.

Constructor & Destructor Documentation

◆ SE3TrajectoryGenerator()

SE3TrajectoryGenerator ( const std::string & name )

Definition at line 34 of file se3-trajectory-generator.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL()

DECLARE_SIGNAL	(	x	,
		OUT	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN	(	initial_value	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN	(	trigger	,
		bool
	)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	ddx	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	dx	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT_FUNCTION()

DECLARE_SIGNAL_OUT_FUNCTION	(	x	,
		dynamicgraph::Vector
	)

protected

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 496 of file se3-trajectory-generator.cpp.

◆ getValue()

void getValue ( const int & id )

Print the current value of the specified component.

Definition at line 269 of file se3-trajectory-generator.cpp.

◆ init()

void init ( const double & dt )

Definition at line 106 of file se3-trajectory-generator.cpp.

◆ move()

void move	(	const int &	id,
		const double &	xFinal,
		const double &	time
	)

Move a component to a position with a minimum-jerk trajectory.

Parameters

id	integer index.
xFinal	The desired final position of the component.
time	The time to go from the current position to xFinal [sec].

Definition at line 454 of file se3-trajectory-generator.cpp.

◆ playTrajectoryFile()

void playTrajectoryFile ( const std::string & fileName )

Definition at line 276 of file se3-trajectory-generator.cpp.

◆ sendMsg()

void sendMsg	(	const std::string &	msg,
		MsgType	t = `MSG_TYPE_INFO`,
		const char *	= `""`,
		int	= `0`
	)

inline

Definition at line 124 of file se3-trajectory-generator.hh.

◆ setSpline()

void setSpline	(	const std::string &	filename,
		const double &	timeToInitConf,
		const Eigen::MatrixXd &	init_rotation
	)

Definition at line 314 of file se3-trajectory-generator.cpp.

◆ startConstAcc()

void startConstAcc	(	const int &	id,
		const double &	xFinal,
		const double &	time
	)

Start an infinite trajectory with piece-wise constant acceleration.

Parameters

id	integer index.
xFinal	The position of the component corresponding to the max amplitude of the trajectory.
time	The time to go from the current position to xFinal [sec].
Tacc	The time during witch acceleration is keept constant [sec].

Definition at line 412 of file se3-trajectory-generator.cpp.

◆ startLinearChirp()

void startLinearChirp	(	const int &	id,
		const double &	xFinal,
		const double &	f0,
		const double &	f1,
		const double &	time
	)

Start a linear-chirp trajectory, that is a sinusoidal trajectory with frequency being a linear function of time.

Parameters

id	integer index.
xFinal	The position of the component corresponding to the max amplitude of the sinusoid [rad].
f0	The initial (min) frequency of the sinusoid [Hz]
f1	The final (max) frequency of the sinusoid [Hz]
time	The time to get from f0 to f1 [sec]

Definition at line 429 of file se3-trajectory-generator.cpp.

◆ startSinusoid()

void startSinusoid	(	const int &	id,
		const double &	xFinal,
		const double &	time
	)

Start an infinite sinusoidal trajectory.

Parameters

id	integer index.
xFinal	The position of the component corresponding to the max amplitude of the sinusoid.
time	The time to go from the current position to xFinal [sec].

Definition at line 372 of file se3-trajectory-generator.cpp.

◆ startSpline()

void startSpline ( )

Definition at line 364 of file se3-trajectory-generator.cpp.

◆ startTriangle()

void startTriangle	(	const int &	id,
		const double &	xFinal,
		const double &	time,
		const double &	Tacc
	)

Start an infinite triangle trajectory.

Parameters

id	integer index.
xFinal	The position of the component corresponding to the max amplitude of the trajectory.
time	The time to go from the current position to xFinal [sec].

Definition at line 389 of file se3-trajectory-generator.cpp.